4-6
Note 1. Operations on the Cam Positioner side are shown below.
N
SID (no. of retries) = “0”?
Y
Analyzes command and sends
response
Receives command frame
Checks command frame Sends error response
Saves the following information on
current command frame.
S MRC/SRC (command code)
S BCC excluding SID
Same as the contents of last
command?
S MRC/SRC (command code)
S BCC excluding SID
Sends the last response frame
Waits for next command frame
When initially sending a command frame, set SID to “0.” If the corresponding response frame is
abnormal, set SID to “1” and then resend the command frame.
N
Y
Errors other than
end code “0F”
Note 2. Refer to 4-3 Command Types for details on FINS-mini command text.
H Structure of FINS-mini Command Text (PDU)
FINS-mini command text consists of MRC, SRC, and data.
MRC SRC Data
No. of bytes 2 2
MRC, SRC Main request code and subrequest code. Various commands can be set by
combining these two codes.
Data Settings differ depending on the command executed. Refer to 4-3 Command
Types for details.
D Contents of MRC and SRC
MRC SRC Function Reference section
“01” “01” Memory Area Read 4-3-1
“02”
“01” Parameter Area Read 4-3-2
“02” Parameter Area Write 4-3-2
“05”
“01” Controller Data Read 4-3-3
“03” Unit Attribute Read 4-3-4
“06” “01” Controller Status Read 4-3-5
“30” “05” Operation Command 4-3-6
“08” “01” Internode Echo Test 4-3-7
Communications Chapter 4
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